CN110241554B - Dewatering method and impeller washing machine - Google Patents
Dewatering method and impeller washing machine Download PDFInfo
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- CN110241554B CN110241554B CN201910629485.3A CN201910629485A CN110241554B CN 110241554 B CN110241554 B CN 110241554B CN 201910629485 A CN201910629485 A CN 201910629485A CN 110241554 B CN110241554 B CN 110241554B
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F33/00—Control of operations performed in washing machines or washer-dryers
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Abstract
The invention provides a dehydration method and a pulsator washing machine, wherein the dehydration method comprises the following steps: determining the estimated rotating speed of the motor in the running process according to the preset estimated time; determining at least one rotating speed command aiming at each preset target rotating speed in at least one target rotating speed, wherein the at least one rotating speed command is an instruction for adjusting the rotating speed of the motor to the target rotating speed; determining whether the rotation speed command is low rotation speed, if so, executing S4, otherwise, executing S5; s4: determining a PI parameter of a speed ring of the motor according to the rotating speed command and the estimated rotating speed, and executing S6; s5: determining a PI parameter of a speed ring of the motor according to the rotating speed command and the target rotating speed, and executing S6; s6: and controlling the motor by using the determined PI parameter. This scheme can prevent motor start failure.
Description
Technical Field
The invention relates to the technical field of washing machines, in particular to a dehydration method and a pulsator washing machine.
Background
With the development of economy, the washing machine has become an essential product for people to live. The washing machine is used as a main force of household appliances, saves a lot of housework of people and makes a lot of contributions to the household life.
At present, the dehydration process of the pulsator washing machine is generally divided into a preliminary dehydration stage, a laundry balancing stage, a main dehydration stage and a high-speed dehydration stage. In the main dehydration process, the motor rotates for several seconds, then stops for several seconds, and repeats the steps, so that the rotating speed of the inner barrel is continuously superposed to the preset rotating speed, and most of water in the clothes is thrown out. In the traditional variable frequency motor control without a position sensor, the actual position of a motor rotor cannot be directly obtained due to the absence of the position sensor, so that the rotating speed closed-loop control of the motor can be realized only by increasing the rotating speed of the motor to a certain speed by adopting a method of positioning and asynchronous dragging, and the PI parameter of a rotation ring for generally controlling the motor to operate is fixed.
However, since the dehydration barrel and the impeller rotate together with the clothes, the rotational inertia is large, the control effect is poor by controlling the motor through the fixed PI parameter, the rotation speed of the motor fluctuates greatly, and the dehydration start of the motor fails.
Disclosure of Invention
The embodiment of the invention provides a dehydration method and a pulsator washing machine, which can prevent the dehydration start failure of a motor.
In a first aspect, an embodiment of the present invention provides a dewatering method applied to a pulsator washing machine, including:
s1: determining the estimated rotating speed of the motor in the running process according to the preset estimated time;
s2: determining at least one rotating speed command aiming at each target rotating speed in at least one preset target rotating speed, wherein the at least one rotating speed command is an instruction of the motor for regulating the rotating speed to the target rotating speed;
s3: determining whether the rotation speed command is low rotation speed, if so, executing S4, otherwise, executing S5;
s4: determining a PI parameter of a speed ring of the motor according to the rotating speed command and the estimated rotating speed, and executing S6;
s5: determining a PI parameter of a speed ring of the motor according to the rotating speed command and the target rotating speed, and executing S6;
s6: and controlling the motor by using the determined PI parameter.
Preferably, the first and second electrodes are formed of a metal,
the determining the PI parameter of the speed loop of the motor according to the rotation speed command and the estimated rotation speed in S4 includes:
d1: determining whether the difference between the speed command and the estimated speed is less than a negative preset first threshold, if so, executing D2, otherwise, executing D3;
d2: taking a preset first PI parameter as a PI parameter of a speed ring of the motor;
d3: determining whether the difference between the rotation speed command and the estimated rotation speed is greater than a preset second threshold, if so, executing D4, otherwise, executing D5;
d4: taking a preset second PI parameter as a PI parameter of a speed ring of the motor;
d5: and taking a preset third PI parameter as a PI parameter of a speed ring of the motor, wherein the first PI parameter is smaller than the second PI parameter, and the third PI parameter is smaller than the first PI parameter.
Preferably, the first and second electrodes are formed of a metal,
the determining, according to the rotation speed command and the target rotation speed, a PI parameter of a speed loop of the motor in S5 includes:
f1: determining whether the speed command is equal to the target speed, if so, executing F2, otherwise, executing F3;
f2: taking a preset fourth PI parameter as a PI parameter of a speed ring of the motor;
f3: and taking a preset fifth PI parameter as a PI parameter of a speed ring of the motor, wherein the fifth PI parameter is larger than the first PI parameter and smaller than the second PI parameter, and the fourth PI parameter is smaller than the fifth PI parameter.
Preferably, the first and second electrodes are formed of a metal,
the determining, according to the rotation speed command and the target rotation speed, a PI parameter of a speed loop of the motor in S5 includes:
step 214: determining whether the speed command is equal to the target speed, if so, performing step 215, otherwise, performing step 219;
step 215: determining an average value of each estimated rotating speed in a preset time period before the current moment, wherein the preset time period is not less than the estimated time period;
step 216: determining whether the absolute value of the difference value between the average value and the target rotating speed is smaller than a preset third threshold value, if so, executing step 217, otherwise, executing step 218;
step 217: taking a preset sixth PI parameter as a PI parameter of a speed ring of the motor;
step 218: taking a preset fourth PI parameter as a PI parameter of a speed ring of the motor;
step 219: and taking a preset fifth PI parameter as a PI parameter of a speed ring of the motor, wherein the fifth PI parameter is larger than the first PI parameter and smaller than the second PI parameter, and the fourth PI parameter is smaller than the fifth PI parameter.
Preferably, the first and second electrodes are formed of a metal,
prior to said determining at least one speed command, further comprising:
presetting acceleration when the motor adjusts speed and interval duration corresponding to the acceleration accumulated each time;
the determining at least one speed command in S2, comprising:
g1: determining the initial rotating speed of the motor;
g2: determining a product of the acceleration and the interval duration;
g3: summing the product and the initial rotating speed of the motor, and taking the sum result as a rotating speed command;
g4: and when the rotating speed command is smaller than the target rotating speed, taking the rotating speed command as the initial rotating speed of the motor, and returning to G3.
In a second aspect, an embodiment of the present invention provides a pulsator washing machine, including:
a rotation speed estimation module for executing S1: determining the estimated rotating speed of the motor in the running process according to the preset estimated time;
a command determination module for performing S2: determining at least one rotating speed command aiming at each target rotating speed in at least one preset target rotating speed, wherein the at least one rotating speed command is an instruction of the motor for regulating the rotating speed to the target rotating speed;
a motor control module for performing S3: determining whether the rotation speed command determined by the command determination module is a low rotation speed, if so, executing S4, otherwise, executing S5; s4: determining a PI parameter of a speed ring of the motor according to the rotating speed command and the estimated rotating speed determined by the rotating speed estimation module, and executing S6; s5: determining a PI parameter of a speed ring of the motor according to the rotating speed command and the target rotating speed set by the setting module, and executing S6; s6: and controlling the motor by using the determined PI parameter.
Preferably, the first and second electrodes are formed of a metal,
the motor control module is used for executing:
d1: determining whether the difference between the speed command and the estimated speed is less than a negative preset first threshold, if so, executing D2, otherwise, executing D3;
d2: taking a preset first PI parameter as a PI parameter of a speed ring of the motor;
d3: determining whether the difference between the rotation speed command and the estimated rotation speed is greater than a preset second threshold, if so, executing D4, otherwise, executing D5;
d4: taking a preset second PI parameter as a PI parameter of a speed ring of the motor;
d5: and taking a preset third PI parameter as a PI parameter of a speed ring of the motor, wherein the first PI parameter is smaller than the second PI parameter, and the third PI parameter is smaller than the first PI parameter.
Preferably, the first and second electrodes are formed of a metal,
the motor control module is used for executing:
f1: determining whether the speed command is equal to the target speed, if so, executing F2, otherwise, executing F3;
f2: taking a preset fourth PI parameter as a PI parameter of a speed ring of the motor;
f3: and taking a preset fifth PI parameter as a PI parameter of a speed ring of the motor, wherein the fifth PI parameter is larger than the first PI parameter and smaller than the second PI parameter, and the fourth PI parameter is smaller than the fifth PI parameter.
Preferably, the first and second electrodes are formed of a metal,
the motor control module is further configured to determine an average value of the estimated rotation speeds within a preset time period before the current time when the rotation speed command is equal to the target rotation speed, wherein the preset time period is not less than the estimated time period; and when determining whether the absolute value of the difference value between the average value and the target rotating speed is smaller than a preset third threshold value, if so, taking a preset sixth PI parameter as a PI parameter of the speed ring of the motor, otherwise, executing the preset fourth PI parameter as the PI parameter of the speed ring of the motor, wherein the sixth PI parameter is smaller than the fourth PI parameter.
Preferably, the first and second electrodes are formed of a metal,
the method comprises the following steps: further comprising: setting a module;
the setting module is used for presetting the acceleration of the motor during speed regulation and the interval duration corresponding to each accumulated acceleration;
the command determination module is configured to perform:
g1: determining the initial rotating speed of the motor;
g2: determining a product of the acceleration set by the setting module and the interval duration;
g3: summing the product and the initial rotating speed of the motor, and taking the sum result as a rotating speed command;
g4: and when the rotating speed command is smaller than the target rotating speed, taking the rotating speed command as the initial rotating speed of the motor, and returning to G3.
The invention provides a dehydration method and a pulsator washing machine, wherein when clothes are dehydrated, a motor rotates according to a set target rotating speed, the rotating speed of the motor is not directly adjusted to the target rotating speed when the motor is started every time, but is gradually adjusted to the target rotating speed according to at least one determined rotating speed command, when the rotating speed command is judged to be low, a PI parameter used for adjusting the motor is determined through the rotating speed command and an estimated rotating speed determined by the motor in the operation process, and when the rotating speed command is judged to be high, the PI parameter used for adjusting the motor is determined through the rotating speed command and the target rotating speed to be reached by the motor, so that the motor is adjusted and controlled. Because the PI parameter used for adjusting the motor speed ring is dynamically adjusted along with the rotating speed command, the estimated speed and the target speed, the large fluctuation of the rotating speed of the motor can be avoided, the barrel collision of the dewatering barrel can be prevented, the dewatering smooth starting of the pulsator washing machine can be realized, and the dewatering starting failure of the motor can be prevented.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flow chart of a dewatering method according to an embodiment of the present invention;
FIG. 2 is a flow chart of another dewatering method provided by an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a pulsator washing machine according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of another pulsator washing machine according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention, and based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a dewatering method applied to a pulsator washing machine, including:
s1: determining the estimated rotating speed of the motor in the running process according to the preset estimated time;
s2: determining at least one rotating speed command aiming at each target rotating speed in at least one preset target rotating speed, wherein the at least one rotating speed command is an instruction of the motor for regulating the rotating speed to the target rotating speed;
s3: determining whether the rotation speed command is low rotation speed, if so, executing S4, otherwise, executing S5;
s4: determining a PI parameter of a speed ring of the motor according to the rotating speed command and the estimated rotating speed, and executing S6;
s5: determining a PI parameter of a speed ring of the motor according to the rotating speed command and the target rotating speed, and executing S6;
s6: and controlling the motor by using the determined PI parameter.
In the embodiment of the invention, when the clothes are dehydrated, the motor rotates according to the set target rotating speed, the rotating speed of the motor is not directly adjusted to the target rotating speed when the motor is started, but is gradually adjusted to the target rotating speed according to at least one determined rotating speed command, when the rotating speed command is judged to be low, the PI parameter for adjusting the motor is determined through the rotating speed command and the estimated rotating speed determined by the motor in the operation process, and when the rotating speed command is judged to be high, the PI parameter for adjusting the motor is determined through the rotating speed command and the target rotating speed to be reached by the motor, so that the motor is adjusted and controlled. Because the PI parameter used for adjusting the motor speed ring is dynamically adjusted along with the rotating speed command, the estimated speed and the target speed, the large fluctuation of the rotating speed of the motor can be avoided, the barrel collision of the dewatering barrel can be prevented, the dewatering smooth starting of the pulsator washing machine can be realized, and the dewatering starting failure of the motor can be prevented.
The estimated rotating speed of the motor in the rotating speed adjusting process can be estimated based on an estimation model of the counter electromotive force of the motor according to preset estimation duration. For example, every 500 microseconds, an estimated rotational speed of the motor is determined using an estimation model based on the back emf of the motor.
In an embodiment of the present invention, the determining the PI parameter of the speed loop of the motor according to the rotational speed command and the estimated rotational speed in S4 includes:
d1: determining whether the difference between the speed command and the estimated speed is less than a negative preset first threshold, if so, executing D2, otherwise, executing D3;
d2: taking a preset first PI parameter as a PI parameter of a speed ring of the motor;
d3: determining whether the difference between the rotation speed command and the estimated rotation speed is greater than a preset second threshold, if so, executing D4, otherwise, executing D5;
d4: taking a preset second PI parameter as a PI parameter of a speed ring of the motor;
d5: and taking a preset third PI parameter as a PI parameter of a speed ring of the motor, wherein the first PI parameter is smaller than the second PI parameter, and the third PI parameter is smaller than the first PI parameter.
In the embodiment of the present invention, when the rotation speed command is a low rotation speed (for example, the rotation speed command is 60RPM, which is less than a set low rotation speed threshold value of 70RPM, and the rotation speed command may be determined as a low rotation speed), a difference between the rotation speed command and the estimated rotation speed may be determined, where the difference is divided into a small error and a large error, and the large error is further divided into a negative error and a positive error, so as to determine whether the actual rotation speed of the motor is faster than the rotation speed command or slower than the rotation speed command; when the difference value is larger than a second threshold value, increasing the KI parameter in the first PI parameter so as to accelerate the rotation of the motor; and when the difference does not belong to the two conditions, taking a preset third PI parameter as the PI parameter of the motor so as to maintain the current rotation state of the motor. In conclusion, different PI parameters are determined according to different difference values, the motor can be dynamically adjusted, the rotating speed of the motor is prevented from fluctuating when the motor is started, the barrel collision of a dewatering barrel is further prevented, the dewatering smooth starting of the pulsator washing machine can be realized, and the dewatering starting failure of the motor is prevented.
In an embodiment of the present invention, the determining the PI parameter of the speed loop of the motor according to the rotation speed command and the target rotation speed in S5 includes:
f1: determining whether the speed command is equal to the target speed, if so, executing F2, otherwise, executing F3;
f2: taking a preset fourth PI parameter as a PI parameter of a speed ring of the motor;
f3: and taking a preset fifth PI parameter as a PI parameter of a speed ring of the motor, wherein the fifth PI parameter is larger than the first PI parameter and smaller than the second PI parameter, and the fourth PI parameter is smaller than the fifth PI parameter.
In the embodiment of the invention, when the rotation speed command belongs to a high rotation speed (for example, the first rotation speed command is greater than a preset threshold value of 70RPM, the rotation speed command can be considered to belong to a high rotation speed, and conversely, the rotation speed command belongs to a low rotation speed), it is considered that the rotation speed command and the target rotation speed are judged, and the motor can be determined to be in a speed increasing and reducing state or a target rotation speed state, so that different PI parameters for adjusting the motor are determined according to different states, the motor is dynamically adjusted, the rotation speed of the motor is prevented from fluctuating during starting, the tub collision of a dewatering tub is prevented, the dewatering smooth starting of the pulsator washing machine can be realized, and the dewatering starting failure of.
In an embodiment of the present invention, the determining the PI parameter of the speed loop of the motor according to the rotation speed command and the target rotation speed in S5 includes:
step 214: determining whether the speed command is equal to the target speed, if so, performing step 215, otherwise, performing step 219;
step 215: determining an average value of each estimated rotating speed in a preset time period before the current moment, wherein the preset time period is not less than the estimated time period;
step 216: determining whether the absolute value of the difference value between the average value and the target rotating speed is smaller than a preset third threshold value, if so, executing step 217, otherwise, executing step 218;
step 217: taking a preset sixth PI parameter as a PI parameter of a speed ring of the motor;
step 218: taking a preset fourth PI parameter as a PI parameter of a speed ring of the motor;
step 219: and taking a preset fifth PI parameter as a PI parameter of a speed ring of the motor, wherein the fifth PI parameter is larger than the first PI parameter and smaller than the second PI parameter, and the fourth PI parameter is smaller than the fifth PI parameter.
In the embodiment of the present invention, when the rotation speed command is equal to the target speed, averaging (or filtering) is further performed on each estimated rotation speed determined in a preset time period (for example, 1s) before the current time to improve accuracy of determining the rotation speed of the motor in the speed adjustment process of the motor in the preset time period, and determine whether the rotation speed of the motor in the operation speed adjustment process is close to the target rotation speed, so that when the rotation speed of the motor in the operation speed adjustment process is also close to the target rotation speed, the KI parameter in the fourth PI parameter is reduced to obtain the sixth PI parameter, and the sixth PI parameter is used to adaptively adjust the motor, so that the motor is smoothly started.
In an embodiment of the present invention, before the determining at least one rotation speed command, further comprises:
presetting acceleration when the motor adjusts speed and interval duration corresponding to the acceleration accumulated each time;
the determining at least one speed command in S2, comprising:
g1: determining the initial rotating speed of the motor;
g2: determining a product of the acceleration and the interval duration;
g3: summing the product and the initial rotating speed of the motor, and taking the sum result as a rotating speed command;
g4: and when the rotating speed command is smaller than the target rotating speed, taking the rotating speed command as the initial rotating speed of the motor, and returning to G3.
In the embodiment of the invention, the operation of the motor is not directly adjusted to the target rotation speed from the initial rotation speed, but the product of the acceleration and the interval duration is determined at each fixed time (namely the interval duration), then the sum of the acceleration and the initial rotation speed of the motor is calculated, the rotation speed command for adjusting the speed of the motor is determined, and when the rotation speed command is less than the target rotation speed, the rotation speed command is taken as the initial speed to be added up by the product of the acceleration and the interval duration, so as to obtain the next rotation speed adjusting command of the motor. By setting the acceleration and the corresponding interval duration, the difficulty in program setting can be reduced while the use requirements of users are met to the maximum extent.
As shown in fig. 2, in order to more clearly illustrate the technical solution and advantages of the present invention, the following detailed description of the dewatering method applied to the pulsator washing machine provided in the embodiment of the present invention may specifically include the following steps:
step 201: at least one target rotating speed, acceleration when the motor adjusts the speed and interval duration corresponding to the acceleration are preset.
Specifically, according to the setting requirement of the pulsator washing machine for dehydration, a target rotation speed corresponding to each start of the pulsator washing machine in the main dehydration stage may be set, so that the pulsator washing machine adjusts the rotation speed to the target rotation speed after the start, so that the laundry inside the pulsator washing machine is dehydrated through the dehydration tub. According to the setting requirement of dehydration, the acceleration of the speed regulation and the corresponding interval duration of the pulsator washing machine during dehydration can be set so as to meet the dehydration requirement of a user in the shortest time.
Step 202: and determining the estimated rotating speed of the motor in the running process according to the preset estimated time.
Specifically, according to the set estimated time, for example 2s, based on the back electromotive force of the motor, the rotating speed of the motor in the operation process of the dehydration stage is determined through a preset estimation model so as to determine the corresponding PI parameter, and the dynamic adjustment of the motor is realized.
Step 203: for each target speed, an initial speed of the motor is determined.
Step 204: the product of the acceleration and the interval duration is determined.
Step 205: the product and the initial speed of the motor are summed, and the result of the summation is taken as the speed command.
Step 206: it is determined whether the speed command is less than the target speed, if so, step 207 is performed, otherwise, step 208 is performed.
Specifically, since the rotation speed of the motor is not adjusted to the target rotation speed immediately after the motor is started, for the target rotation speed corresponding to the motor after the motor is started each time in the main dehydration stage of the motor of the pulsator washing machine, the initial rotation speed of the motor can be determined first, then the instruction for controlling the motor to adjust the rotation speed is determined by the sum of the product of the acceleration and the interval duration and the initial rotation speed, the rotation speed of the motor can be adjusted to the target rotation speed by at least one rotation speed instruction, and the dehydration barrel of the pulsator washing machine can reach the corresponding rotation speed to be beneficial to the dehydration of the clothes. When the rotating speed command is smaller than the target rotating speed, the rotating speed command is required to be used as the initial rotating speed of the electrode, and then the rotating speed command is generated again, so that the motor adjusts the rotating speed according to the corresponding command, and the rotating speed is adjusted to the target rotating speed.
Step 207: the rotational speed command is used as the initial rotational speed of the motor and the process returns to step 205.
Step 208: it is determined whether the speed command is a low speed, if so, step 209 is performed, otherwise, step 214 is performed.
Specifically, during the rotation speed adjustment process of the motor, whether the rotation speed command is a high rotation speed or a low rotation speed is judged in real time, and for example, by comparing the rotation speed command with a threshold value set according to a requirement, it can be determined whether the rotation speed command is a high rotation speed or a low rotation speed. So that the corresponding PI parameters are dynamically adjusted according to the rotating speeds in different states, the motor is dynamically controlled, and the condition that the dewatering barrel collides with the barrel due to large fluctuation of the rotating speed of the motor is prevented.
Step 209: it is determined whether the difference between the speed command and the estimated speed is less than a negative preset first threshold, if so, step 210 is performed, otherwise, step 211 is performed.
Specifically, when the rotation speed command is determined to be in a low rotation speed state, the error between the rotation speed command and the estimated rotation speed is divided into three conditions, so that corresponding PI parameters are determined through different conditions, and the purpose of dynamically adjusting the motor is achieved. That is, when the difference between the rotation speed command and the estimated rotation speed is smaller than the negative first threshold, it may be determined that the speed of the motor during the rotation speed adjustment is faster than the rotation speed command, and thus the motor may be adjusted by using the first PI parameter that adjusts the rotation speed slower; when the difference between the rotating speed command and the estimated rotating speed is greater than a second threshold value, the rotating speed of the motor can be determined to be too low, KI parameters of the first PI parameters can be increased, namely, the motor is controlled by using the second PI parameters which are greater than the first PI parameters, so that the rotating speed of the motor is increased; when the difference value between the rotating speed command and the estimated rotating speed is not in the two conditions, the difference value between the rotating speed of the motor and the rotating speed command is smaller, so that the rotating speed of the motor can be finely adjusted, the rotating speed of the motor is prevented from fluctuating better, and the condition that the dewatering barrel collides with the barrel is prevented.
Step 210: and taking the preset first PI parameter as the PI parameter of the speed ring of the motor, and executing the step 220.
Step 211: it is determined whether the difference between the speed command and the estimated speed is greater than a predetermined second threshold, if so, step 212 is performed, otherwise, step 213 is performed.
Step 212: and taking the preset second PI parameter as the PI parameter of the speed ring of the motor, and executing the step 220.
Step 213: and taking a preset third PI parameter as a PI parameter of the speed ring of the motor, wherein the first PI parameter is smaller than the second PI parameter, and the third PI parameter is smaller than the first PI parameter, and executing the step 220.
Step 214: it is determined whether the speed command is equal to the target speed, if so, step 215 is performed, otherwise, step 219 is performed.
Specifically, when the rotation speed command is in the high rotation speed state, there are two cases, one is that the rotation speed command is not equal to the target rotation speed, and the other is that the rotation speed command is equal to the target rotation speed. When the rotating speed command is not equal to the target rotating speed, namely in the speed increasing process, a fourth PI parameter of which the motor speed ring is smaller than the second PI parameter and larger than the first PI parameter can be taken to adjust the motor so as to prevent the rotating speed of the motor from fluctuating.
Step 215: and determining the average value of each estimated rotating speed in a preset time period before the current moment, wherein the preset time period is not less than the estimated time period.
Specifically, when it is determined that the rotation speed command is equal to the target rotation speed, it is also necessary to determine an average value of the estimated rotation speeds determined within a preset time period (for example, 5s) before the present time, so that the operating speed of the motor is determined for the time period, improving the accuracy of determining the rotation speed of the motor for the time period.
Step 216: it is determined whether the absolute value of the difference between the average and the target speed is less than a preset third threshold, if so, step 217 is performed, otherwise, step 218 is performed.
Specifically, when the rotation speed command is equal to the target rotation speed, it may be determined whether an absolute value of a difference between an average value of each estimated rotation speed within a preset time period and the target rotation speed is smaller than a third threshold value, so as to determine whether the operation speed of the motor is close to the target rotation speed, and when it is determined that the operation speed is close to the target rotation speed, a KI parameter in the PI parameters is reduced, that is, a sixth PI parameter smaller than a fourth PI parameter is selected, so as to perform fine tuning on the motor, further reduce motor fluctuation, and enable the motor to be smoothly started.
Step 217: and taking the preset sixth PI parameter as the PI parameter of the speed ring of the motor, and executing the step 220.
Step 218: and taking the preset fourth PI parameter as the PI parameter of the speed ring of the motor, and executing the step 220.
Step 219: and taking a preset fifth PI parameter as a PI parameter of the speed loop of the motor, wherein the fifth PI parameter is greater than the first PI parameter and smaller than the second PI parameter, and the fourth PI parameter is smaller than the fifth PI parameter, and executing step 220.
Step 220: and controlling the motor by using the determined PI parameter.
As shown in fig. 3, an embodiment of the present invention provides a pulsator washing machine, including:
a rotation speed estimation module 301, configured to execute S1: determining the estimated rotating speed of the motor in the running process according to the preset estimated time;
a command determination module 302 for performing S2: determining at least one rotating speed command aiming at each target rotating speed in at least one preset target rotating speed, wherein the at least one rotating speed command is an instruction of the motor for regulating the rotating speed to the target rotating speed;
a motor control module 303 for executing S3: determining whether the speed command determined by the command determination module 302 is a low speed, if so, performing S4, otherwise, performing S5; s4: determining a PI parameter of a speed ring of the motor according to the rotating speed command and the estimated rotating speed determined by the rotating speed estimation module 301, and executing S6; s5: determining a PI parameter of a speed ring of the motor according to the rotating speed command and the target rotating speed set by the setting module, and executing S6; s6: and controlling the motor by using the determined PI parameter.
In the embodiment of the invention, when clothes are dehydrated, the motor control module controls the motor to rotate according to a preset target rotating speed, the rotating speed of the motor is not directly adjusted to the target rotating speed when the motor is started every time, but the rotating speed is gradually adjusted to the target rotating speed according to at least one rotating speed command determined by the command determining module, when the rotating speed command is judged to be low, the motor control module determines the PI parameter for adjusting the motor through the rotating speed command and the estimated rotating speed of the motor in the operation process determined by the rotating speed estimating module, and when the rotating speed command is judged to be high, the PI parameter for adjusting the motor is determined through the rotating speed command and the target rotating speed to be reached by the motor, so that the motor is adjusted and controlled. Because the PI parameter used for adjusting the motor speed ring is dynamically adjusted along with the rotating speed command, the estimated speed and the target speed, the large fluctuation of the rotating speed of the motor can be avoided, the barrel collision of the dewatering barrel can be prevented, the dewatering smooth starting of the pulsator washing machine can be realized, and the dewatering starting failure of the motor can be prevented.
In an embodiment of the present invention, the motor control module is configured to perform:
d1: determining whether the difference between the speed command and the estimated speed is less than a negative preset first threshold, if so, executing D2, otherwise, executing D3;
d2: taking a preset first PI parameter as a PI parameter of a speed ring of the motor;
d3: determining whether the difference between the rotation speed command and the estimated rotation speed is greater than a preset second threshold, if so, executing D4, otherwise, executing D5;
d4: taking a preset second PI parameter as a PI parameter of a speed ring of the motor;
d5: and taking a preset third PI parameter as a PI parameter of a speed ring of the motor, wherein the first PI parameter is smaller than the second PI parameter, and the third PI parameter is smaller than the first PI parameter.
In an embodiment of the present invention, the motor control module is configured to perform:
f1: determining whether the speed command is equal to the target speed, if so, executing F2, otherwise, executing F3;
f2: taking a preset fourth PI parameter as a PI parameter of a speed ring of the motor;
f3: and taking a preset fifth PI parameter as a PI parameter of a speed ring of the motor, wherein the fifth PI parameter is larger than the first PI parameter and smaller than the second PI parameter, and the fourth PI parameter is smaller than the fifth PI parameter.
In an embodiment of the present invention, the motor control module is further configured to determine an average value of each of the estimated rotational speeds within a preset time period before the current time when the rotational speed command is equal to the target rotational speed, wherein the preset time period is not less than the estimated time period; and when determining whether the absolute value of the difference value between the average value and the target rotating speed is smaller than a preset third threshold value, if so, taking a preset sixth PI parameter as a PI parameter of the speed ring of the motor, otherwise, executing the preset fourth PI parameter as the PI parameter of the speed ring of the motor, wherein the sixth PI parameter is smaller than the fourth PI parameter.
As shown in fig. 4, in an embodiment of the present invention, the pulsator washing machine further includes: a setup module 401;
the setting module 401 is configured to preset an acceleration during speed adjustment of the motor and an interval duration corresponding to each accumulated acceleration;
the command determination module is configured to perform:
g1: determining the initial rotating speed of the motor;
g2: determining the product of the acceleration set by the setting module 401 and the interval duration;
g3: summing the product and the initial rotating speed of the motor, and taking the sum result as a rotating speed command;
g4: and when the rotating speed command is smaller than the target rotating speed, taking the rotating speed command as the initial rotating speed of the motor, and returning to G3.
The embodiments of the invention have at least the following beneficial effects:
1. in one embodiment of the present invention, when the laundry is dehydrated, the motor rotates according to a set target rotation speed, and the motor does not directly adjust the rotation speed to the target rotation speed each time the motor is started, but gradually adjusts the rotation speed to the target rotation speed according to at least one determined rotation speed command, when the rotation speed command is judged to be a low rotation speed, the PI parameter for adjusting the motor is determined through the rotation speed command and an estimated rotation speed determined during the operation of the motor, and when the rotation speed command is judged to be a high rotation speed, the PI parameter for adjusting the motor is determined through the rotation speed command and the target rotation speed to be reached by the motor, so as to adjust and control the motor. Because the PI parameter used for adjusting the motor speed ring is dynamically adjusted along with the rotating speed command, the estimated speed and the target speed, the large fluctuation of the rotating speed of the motor can be avoided, the barrel collision of the dewatering barrel can be prevented, the dewatering smooth starting of the pulsator washing machine can be realized, and the dewatering starting failure of the motor can be prevented.
2. In an embodiment of the present invention, when the rotation speed command is a low rotation speed (for example, the rotation speed command is 60RPM, which is less than a set low rotation speed threshold value of 70RPM, and the rotation speed command may be determined to be a low rotation speed), a difference between the rotation speed command and the estimated rotation speed may be determined, where the difference is divided into a small error and a large error, and the large error is further divided into a negative error and a positive error, so as to determine whether the actual rotation speed of the motor is faster than the rotation speed command or slower than the rotation speed command; when the difference value is larger than a second threshold value, increasing the KI parameter in the first PI parameter so as to accelerate the rotation of the motor; and when the difference does not belong to the two conditions, taking a preset third PI parameter as the PI parameter of the motor so as to maintain the current rotation state of the motor. In conclusion, different PI parameters are determined according to different difference values, the motor can be dynamically adjusted, the rotating speed of the motor is prevented from fluctuating when the motor is started, the barrel collision of a dewatering barrel is further prevented, the dewatering smooth starting of the pulsator washing machine can be realized, and the dewatering starting failure of the motor is prevented.
3. In an embodiment of the present invention, when the rotation speed command belongs to a high rotation speed (for example, the first rotation speed command is greater than a preset threshold of 70RPM, the rotation speed command may be considered as belonging to a high rotation speed, and vice versa, it is considered that the rotation speed command and the target rotation speed are determined, so as to determine whether the motor is in a speed increasing/decreasing state or a target rotation speed state, so as to determine different PI parameters for adjusting the motor according to different states, dynamically adjust the motor, prevent the rotation speed of the motor from fluctuating during starting, further prevent the dehydration barrel from colliding with the barrel, further implement smooth start of the pulsator washing machine, and prevent failure of dehydration start of the motor.
4. In an embodiment of the present invention, when the rotation speed command is equal to the target speed, averaging (or filtering) is further performed on each estimated rotation speed determined in a preset time period (for example, 1s) before the current time to improve accuracy of determining the rotation speed of the motor during the speed adjustment process of the motor within the preset time period, and determine whether the rotation speed of the motor during the operation speed adjustment process is close to the target rotation speed, so that when the rotation speed of the motor during the operation speed adjustment process is also close to the target rotation speed, the KI parameter in the fourth PI parameter is reduced to obtain a sixth PI parameter, and the sixth PI parameter is used to adaptively adjust the motor, so that the motor is smoothly started.
5. In one embodiment of the present invention, the operation of the motor is not directly adjusted from the initial speed to the target speed, but at each fixed time (i.e. the interval duration), the product of the acceleration and the interval duration is determined, then the sum of the acceleration and the initial speed of the motor is calculated, the speed command for adjusting the speed of the motor is determined, and when the speed command is less than the target speed, the speed command is added as the initial speed by the product of the acceleration and the interval duration to obtain the next speed adjustment command of the motor. By setting the acceleration and the corresponding interval duration, the difficulty in program setting can be reduced while the use requirements of users are met to the maximum extent.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a" does not exclude the presence of other similar elements in a process, method, article, or apparatus that comprises the element.
Finally, it is to be noted that: the above description is only a preferred embodiment of the present invention, and is only used to illustrate the technical solutions of the present invention, and not to limit the protection scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. A dehydration method is characterized by being applied to a pulsator washing machine and comprising the following steps:
s1: determining the estimated rotating speed of the motor in the running process according to the preset estimated time;
s2: determining at least one rotating speed command aiming at each target rotating speed in at least one preset target rotating speed, wherein the at least one rotating speed command is an instruction of the motor for regulating the rotating speed to the target rotating speed;
s3: determining whether the rotation speed command is low rotation speed, if so, executing S4, otherwise, executing S5;
s4: determining a PI parameter of a speed ring of the motor according to the rotating speed command and the estimated rotating speed, and executing S6;
s5: determining a PI parameter of a speed ring of the motor according to the rotating speed command and the target rotating speed, and executing S6;
s6: and controlling the motor by using the determined PI parameter.
2. The method of claim 1,
the determining the PI parameter of the speed loop of the motor according to the rotation speed command and the estimated rotation speed in S4 includes:
d1: determining whether the difference between the speed command and the estimated speed is less than a negative preset first threshold, if so, executing D2, otherwise, executing D3;
d2: taking a preset first PI parameter as a PI parameter of a speed ring of the motor;
d3: determining whether the difference between the rotation speed command and the estimated rotation speed is greater than a preset second threshold, if so, executing D4, otherwise, executing D5;
d4: taking a preset second PI parameter as a PI parameter of a speed ring of the motor;
d5: and taking a preset third PI parameter as a PI parameter of a speed ring of the motor, wherein the first PI parameter is smaller than the second PI parameter, and the third PI parameter is smaller than the first PI parameter.
3. The method of claim 2,
the determining, according to the rotation speed command and the target rotation speed, a PI parameter of a speed loop of the motor in S5 includes:
f1: determining whether the speed command is equal to the target speed, if so, executing F2, otherwise, executing F3;
f2: taking a preset fourth PI parameter as a PI parameter of a speed ring of the motor;
f3: and taking a preset fifth PI parameter as a PI parameter of a speed ring of the motor, wherein the fifth PI parameter is larger than the first PI parameter and smaller than the second PI parameter, and the fourth PI parameter is smaller than the fifth PI parameter.
4. The method of claim 2,
the determining, according to the rotation speed command and the target rotation speed, a PI parameter of a speed loop of the motor in S5 includes:
step 214: determining whether the speed command is equal to the target speed, if so, performing step 215, otherwise, performing step 219;
step 215: determining an average value of each estimated rotating speed in a preset time period before the current moment, wherein the preset time period is not less than the estimated time period;
step 216: determining whether the absolute value of the difference value between the average value and the target rotating speed is smaller than a preset third threshold value, if so, executing step 217, otherwise, executing step 218;
step 217: taking a preset sixth PI parameter as a PI parameter of a speed ring of the motor;
step 218: taking a preset fourth PI parameter as a PI parameter of a speed ring of the motor;
step 219: and taking a preset fifth PI parameter as a PI parameter of a speed ring of the motor, wherein the fifth PI parameter is larger than the first PI parameter and smaller than the second PI parameter, and the fourth PI parameter is smaller than the fifth PI parameter.
5. The method according to any one of claims 1 to 4,
prior to said determining at least one speed command, further comprising:
presetting acceleration when the motor adjusts speed and interval duration corresponding to the acceleration accumulated each time;
the determining at least one speed command in S2, comprising:
g1: determining the initial rotating speed of the motor;
g2: determining a product of the acceleration and the interval duration;
g3: summing the product and the initial rotating speed of the motor, and taking the sum result as a rotating speed command;
g4: and when the rotating speed command is smaller than the target rotating speed, taking the rotating speed command as the initial rotating speed of the motor, and returning to G3.
6. A pulsator washing machine, comprising:
a rotation speed estimation module for executing S1: determining the estimated rotating speed of the motor in the running process according to the preset estimated time;
a command determination module for performing S2: determining at least one rotating speed command aiming at each target rotating speed in at least one preset target rotating speed, wherein the at least one rotating speed command is an instruction of the motor for regulating the rotating speed to the target rotating speed;
a motor control module for performing S3: determining whether the rotation speed command determined by the command determination module is a low rotation speed, if so, executing S4, otherwise, executing S5; s4: determining a PI parameter of a speed ring of the motor according to the rotating speed command and the estimated rotating speed determined by the rotating speed estimation module, and executing S6; s5: determining a PI parameter of a speed ring of the motor according to the rotating speed command and the target rotating speed set by the setting module, and executing S6; s6: and controlling the motor by using the determined PI parameter.
7. The pulsator washing machine according to claim 6, comprising:
the motor control module is used for executing:
d1: determining whether the difference between the speed command and the estimated speed is less than a negative preset first threshold, if so, executing D2, otherwise, executing D3;
d2: taking a preset first PI parameter as a PI parameter of a speed ring of the motor;
d3: determining whether the difference between the rotation speed command and the estimated rotation speed is greater than a preset second threshold, if so, executing D4, otherwise, executing D5;
d4: taking a preset second PI parameter as a PI parameter of a speed ring of the motor;
d5: and taking a preset third PI parameter as a PI parameter of a speed ring of the motor, wherein the first PI parameter is smaller than the second PI parameter, and the third PI parameter is smaller than the first PI parameter.
8. The pulsator washing machine according to claim 7, comprising:
the motor control module is used for executing:
f1: determining whether the speed command is equal to the target speed, if so, executing F2, otherwise, executing F3;
f2: taking a preset fourth PI parameter as a PI parameter of a speed ring of the motor;
f3: and taking a preset fifth PI parameter as a PI parameter of a speed ring of the motor, wherein the fifth PI parameter is larger than the first PI parameter and smaller than the second PI parameter, and the fourth PI parameter is smaller than the fifth PI parameter.
9. The pulsator washing machine according to claim 8, comprising:
the motor control module is further configured to determine an average value of the estimated rotation speeds within a preset time period before the current time when the rotation speed command is equal to the target rotation speed, wherein the preset time period is not less than the estimated time period; and when determining whether the absolute value of the difference value between the average value and the target rotating speed is smaller than a preset third threshold value, if so, taking a preset sixth PI parameter as a PI parameter of the speed ring of the motor, otherwise, executing the preset fourth PI parameter as the PI parameter of the speed ring of the motor, wherein the sixth PI parameter is smaller than the fourth PI parameter.
10. The pulsator washing machine according to any one of claims 6 to 9,
the setting module is used for presetting the acceleration of the motor during speed regulation and the interval duration corresponding to each accumulated acceleration;
the command determination module is configured to perform:
g1: determining the initial rotating speed of the motor;
g2: determining a product of the acceleration set by the setting module and the interval duration;
g3: summing the product and the initial rotating speed of the motor, and taking the sum result as a rotating speed command;
g4: and when the rotating speed command is smaller than the target rotating speed, taking the rotating speed command as the initial rotating speed of the motor, and returning to G3.
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